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The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of flexibility and scalability, with ample room for advancements in performance. In this paper, our objective is to address these limitations by introducing two frameworks for 3D object detection with minimal hand-crafted design. Firstly, we propose CT3D, which sequentially performs raw-point-based embedding, a standard Transformer encoder, and a channel-wise decoder for point features within each proposal. Secondly, we present an enhanced network called CT3D++, which incorporates geometric and semantic fusion-based embedding to extract more valuable and comprehensive proposal-aware information. Additionally, CT3D ++ utilizes a point-to-key bidirectional encoder for more efficient feature encoding with reduced computational cost. By replacing the corresponding components of CT3D with these novel modules, CT3D++ achieves state-of-the-art performance on both the KITTI dataset and the large-scale Way\-mo Open Dataset. The source code for our frameworks will be made accessible at https://github.com/hlsheng1/CT3D-plusplus., Comment: 19 pages, 8 figures

We investigate a joint visibility region (VR) detection and channel estimation problem in extremely large-scale multiple-input-multiple-output (XL-MIMO) systems, where near-field propagation and spatial non-stationary effects exist. In this case, each scatterer can only see a subset of antennas, i.e., it has a certain VR over the antennas. Because of the spatial correlation among adjacent sub-arrays, VR of scatterers exhibits a two-dimensional (2D) clustered sparsity. We design a 2D Markov prior model to capture such a structured sparsity. Based on this, a novel alternating maximum a posteriori (MAP) framework is developed for high-accuracy VR detection and channel estimation. The alternating MAP framework consists of three basic modules: a channel estimation module, a VR detection module, and a grid update module. Specifically, the first module is a low-complexity inverse-free variational Bayesian inference (IF-VBI) algorithm that avoids the matrix inverse via minimizing a relaxed Kullback-Leibler (KL) divergence. The second module is a structured expectation propagation (EP) algorithm which has the ability to deal with complicated prior information. And the third module refines polar-domain grid parameters via gradient ascent. Simulations demonstrate the superiority of the proposed algorithm in both VR detection and channel estimation., Comment: 13 pages, 14 figures, submitted to IEEE TSP

Hybrid beamforming is vital in modern wireless systems, especially for massive MIMO and millimeter-wave deployments, offering efficient directional transmission with reduced hardware complexity. However, effective beamforming in multi-user scenarios relies heavily on accurate channel state information, the acquisition of which often incurs excessive pilot overhead, degrading system performance. To address this and inspired by the spatial congruence between sub-6GHz (sub-6G) and mmWave channels, we propose a Sub-6G information Aided Multi-User Hybrid Beamforming (SA-MUHBF) framework, avoiding excessive use of pilots. SA-MUHBF employs a convolutional neural network to predict mmWave beamspace from sub-6G channel estimate, followed by a novel multi-layer graph neural network for analog beam selection and a linear minimum mean-square error algorithm for digital beamforming. Numerical results demonstrate that SA-MUHBF efficiently predicts the mmWave beamspace representation and achieves superior spectrum efficiency over state-of-the-art benchmarks. Moreover, SA-MUHBF demonstrates robust performance across varied sub-6G system configurations and exhibits strong generalization to unseen scenarios., Comment: 13 pages, 12 figures, submitted

In this paper, we investigate a self-sensing intelligent reflecting surface (IRS) aided millimeter wave (mmWave) integrated sensing and communication (ISAC) system. Unlike the conventional purely passive IRS, the self-sensing IRS can effectively reduce the path loss of sensing-related links, thus rendering it advantageous in ISAC systems. Aiming to jointly sense the target/scatterer/user positions as well as estimate the sensing and communication (SAC) channels in the considered system, we propose a two-phase transmission scheme, where the coarse and refined sensing/channel estimation (CE) results are respectively obtained in the first phase (using scanning-based IRS reflection coefficients) and second phase (using optimized IRS reflection coefficients). For each phase, an angle-based sensing turbo variational Bayesian inference (AS-TVBI) algorithm, which combines the VBI, messaging passing and expectation-maximization (EM) methods, is developed to solve the considered joint location sensing and CE problem. The proposed algorithm effectively exploits the partial overlapping structured (POS) sparsity and 2-dimensional (2D) block sparsity inherent in the SAC channels to enhance the overall performance. Based on the estimation results from the first phase, we formulate a Cram\'{e}r-Rao bound (CRB) minimization problem for optimizing IRS reflection coefficients, and through proper reformulations, a low-complexity manifold-based optimization algorithm is proposed to solve this problem. Simulation results are provided to verify the superiority of the proposed transmission scheme and associated algorithms.

Due to the ability to provide superior error-correction performance, the successive cancellation list (SCL) algorithm is widely regarded as one of the most promising decoding algorithms for polar codes with short-to-moderate code lengths. However, the application of SCL decoding in low-latency communication scenarios is limited due to its sequential nature. To reduce the decoding latency, developing tailored fast and efficient list decoding algorithms of specific polar substituent codes (special nodes) is a promising solution. Recently, fast list decoding algorithms are proposed by considering special nodes with low code rates. Aiming to further speedup the SCL decoding, this paper presents fast list decoding algorithms for two types of high-rate special nodes, namely single-parity-check (SPC) nodes and sequence rate one or single-parity-check (SR1/SPC) nodes. In particular, we develop two classes of fast list decoding algorithms for these nodes, where the first class uses a sequential decoding procedure to yield decoding latency that is linear with the list size, and the second further parallelizes the decoding process by pre-determining the redundant candidate paths offline. Simulation results show that the proposed list decoding algorithms are able to achieve up to 70.7\% lower decoding latency than state-of-the-art fast SCL decoders, while exhibiting the same error-correction performance., Comment: 13 pages, 8 figures

Since Intersection-over-Union (IoU) based optimization maintains the consistency of the final IoU prediction metric and losses, it has been widely used in both regression and classification branches of single-stage 2D object detectors. Recently, several 3D object detection methods adopt IoU-based optimization and directly replace the 2D IoU with 3D IoU. However, such a direct computation in 3D is very costly due to the complex implementation and inefficient backward operations. Moreover, 3D IoU-based optimization is sub-optimal as it is sensitive to rotation and thus can cause training instability and detection performance deterioration. In this paper, we propose a novel Rotation-Decoupled IoU (RDIoU) method that can mitigate the rotation-sensitivity issue, and produce more efficient optimization objectives compared with 3D IoU during the training stage. Specifically, our RDIoU simplifies the complex interactions of regression parameters by decoupling the rotation variable as an independent term, yet preserving the geometry of 3D IoU. By incorporating RDIoU into both the regression and classification branches, the network is encouraged to learn more precise bounding boxes and concurrently overcome the misalignment issue between classification and regression. Extensive experiments on the benchmark KITTI and Waymo Open Dataset validate that our RDIoU method can bring substantial improvement for the single-stage 3D object detection., Comment: Accepted by ECCV2022. The code is available at https://github.com/hlsheng1/RDIoU

Due to the sequential nature of the successive-cancellation (SC) algorithm, the decoding of polar codes suffers from significant decoding latencies. Fast SC decoding is able to speed up the SC decoding process, by implementing parallel decoders at the intermediate levels of the SC decoding tree for some special nodes with specific information and frozen bit patterns. To further improve the parallelism of SC decoding, this paper present a new class of special nodes composed of a sequence of rate one or single-parity-check (SR1/SPC) nodes, which can be easily found especially in high-rate polar code and is able to envelop a wide variety of existing special node types. Then, we analyse the parity constraints caused by the frozen bits in each descendant node, such that the decoding performance of the SR1/SPC node can be preserved once the parity constraints are satisfied. Finally, a generalized fast decoding algorithm is proposed to decode SR1/SPC nodes efficiently, where the corresponding parity constraints are taken into consideration. Simulation results show that the proposed decoding algorithm of the SR1/SPC node can achieve near-ML performance, and the overall decoding latency can be reduced by 43.8% as compared to the state-of-the-art fast SC decoder., Comment: 30 pages, 6 figures, submitted for possible journal publication

For intelligent reflecting surface (IRS)-aided wireless communications, channel estimation is essential and usually requires excessive channel training overhead when the number of IRS reflecting elements is large. The acquisition of accurate channel state information (CSI) becomes more challenging when the channel is not quasi-static due to the mobility of the transmitter and/or receiver. In this work, we study an IRS-aided wireless communication system with a time-varying channel model and propose an innovative two-stage transmission protocol. In the first stage, we send pilot symbols and track the direct/reflected channels based on the received signal, and then data signals are transmitted. In the second stage, instead of sending pilot symbols first, we directly predict the direct/reflected channels and all the time slots are used for data transmission. Based on the proposed transmission protocol, we propose a two-stage channel tracking and prediction (2SCTP) scheme to obtain the direct and reflected channels with low channel training overhead, which is achieved by exploiting the temporal correlation of the time-varying channels. Specifically, we first consider a special case where the IRS-access point (AP) channel is assumed to be static, for which a Kalman filter (KF)-based algorithm and a long short-term memory (LSTM)-based neural network are proposed for channel tracking and prediction, respectively. Then, for the more general case where the IRS-AP, user-IRS and user-AP channels are all assumed to be time-varying, we present a generalized KF (GKF)-based channel tracking algorithm, where proper approximations are employed to handle the underlying non-Gaussian random variables. Numerical simulations are provided to verify the effectiveness of our proposed transmission protocol and channel tracking/prediction algorithms as compared to existing ones.

Though 3D object detection from point clouds has achieved rapid progress in recent years, the lack of flexible and high-performance proposal refinement remains a great hurdle for existing state-of-the-art two-stage detectors. Previous works on refining 3D proposals have relied on human-designed components such as keypoints sampling, set abstraction and multi-scale feature fusion to produce powerful 3D object representations. Such methods, however, have limited ability to capture rich contextual dependencies among points. In this paper, we leverage the high-quality region proposal network and a Channel-wise Transformer architecture to constitute our two-stage 3D object detection framework (CT3D) with minimal hand-crafted design. The proposed CT3D simultaneously performs proposal-aware embedding and channel-wise context aggregation for the point features within each proposal. Specifically, CT3D uses proposal's keypoints for spatial contextual modelling and learns attention propagation in the encoding module, mapping the proposal to point embeddings. Next, a new channel-wise decoding module enriches the query-key interaction via channel-wise re-weighting to effectively merge multi-level contexts, which contributes to more accurate object predictions. Extensive experiments demonstrate that our CT3D method has superior performance and excellent scalability. Remarkably, CT3D achieves the AP of 81.77% in the moderate car category on the KITTI test 3D detection benchmark, outperforms state-of-the-art 3D detectors., Comment: Accepted by ICCV2021

We consider a two-stage stochastic optimization problem, in which a long-term optimization variable is coupled with a set of short-term optimization variables in both objective and constraint functions. Despite that two-stage stochastic optimization plays a critical role in various engineering and scientific applications, there still lack efficient algorithms, especially when the long-term and short-term variables are coupled in the constraints. To overcome the challenge caused by tightly coupled stochastic constraints, we first establish a two-stage primal-dual decomposition (PDD) method to decompose the two-stage problem into a long-term problem and a family of short-term subproblems. Then we propose a PDD-based stochastic successive convex approximation (PDD-SSCA) algorithmic framework to find KKT solutions for two-stage stochastic optimization problems. At each iteration, PDD-SSCA first runs a short-term sub-algorithm to find stationary points of the short-term subproblems associated with a mini-batch of the state samples. Then it constructs a convex surrogate for the long-term problem based on the deep unrolling of the short-term sub-algorithm and the back propagation method. Finally, the optimal solution of the convex surrogate problem is solved to generate the next iterate. We establish the almost sure convergence of PDD-SSCA and customize the algorithmic framework to solve two important application problems. Simulations show that PDD-SSCA can achieve superior performance over existing solutions., Comment: 16 pages, 8 figures, accepted by IEEE Transactions on Signal Processing

Intelligent reflecting surface (IRS) has emerged as a promising paradigm to improve the capacity and reliability of a wireless communication system by smartly reconfiguring the wireless propagation environment. To achieve the promising gains of IRS, the acquisition of the channel state information (CSI) is essential, which however is practically difficult since the IRS does not employ any transmit/receive radio frequency (RF) chains in general and it has limited signal processing capability. In this paper, we study the uplink channel estimation problem for an IRS-aided multiuser single-input multi-output (SIMO) system, and propose a novel two-phase channel estimation (2PCE) strategy which can alleviate the negative effects caused by error propagation in the existing three-phase channel estimation approach, i.e., the channel estimation errors in previous phases will deteriorate the estimation performance in later phases, and enhance the channel estimation performance with the same amount of channel training overhead as in the existing approach. Moreover, the asymptotic mean squared error (MSE) of the 2PCE strategy is analyzed when the least-square (LS) channel estimation method is employed, and we show that the 2PCE strategy can outperform the existing approach. Finally, extensive simulation results are presented to validate the effectiveness of the 2PCE strategy.

Symbiotic radio (SR) is emerging as a spectrum- and energy-efficient communication paradigm for future passive Internet-of-things (IoT), where some single-antenna backscatter devices, referred to as Tags, are parasitic in an active primary transmission. The primary transceiver is designed to assist both direct-link (DL) and backscatter-link (BL) communication. In multi-tags SR systems, the transceiver designs become much more complicated due to the presence of DL and inter-Tag interference, which further poses new challenges to the availability and reliability of DL and BL transmission. To overcome these challenges, we formulate the stochastic optimization of transceiver design as the general network utility maximization problem (GUMP). The resultant problem is a stochastic multiple-ratio fractional non-convex problem, and consequently challenging to solve. By leveraging some fractional programming techniques, we tailor a surrogate function with the specific structure and subsequently develop a batch stochastic parallel decomposition (BSPD) algorithm, which is shown to converge to stationary solutions of the GNUMP. Simulation results verify the effectiveness of the proposed algorithm by numerical examples in terms of the achieved system throughput., Comment: Accepted by IEEE Internet Things J

Linear Programming (LP) is an important decoding technique for binary linear codes. However, the advantages of LP decoding, such as low error floor and strong theoretical guarantee, etc., come at the cost of high computational complexity and poor performance at the low signal-to-noise ratio (SNR) region. In this letter, we adopt the penalty dual decomposition (PDD) framework and propose a PDD algorithm to address the fundamental polytope based maximum likelihood (ML) decoding problem. Furthermore, we propose to integrate machine learning techniques into the most time-consuming part of the PDD decoding algorithm, i.e., check polytope projection (CPP). Inspired by the fact that a multi-layer perception (MLP) can theoretically approximate any nonlinear mapping function, we present a specially designed neural CPP (NCPP) algorithm to decrease the decoding latency. Simulation results demonstrate the effectiveness of the proposed algorithms., Comment: This pape has been accepted for publication in IEEE wireless communications letters

This letter investigates the uplink of a multi-user millimeter wave (mmWave) system, where the base station (BS) is equipped with a massive multiple-input multiple-output (MIMO) array and resolution-adaptive analog-to-digital converters (RADCs). Although employing massive MIMO at the BS can significantly improve the spectral efficiency, it also leads to high hardware complexity and huge power consumption. To overcome these challenges, we seek to jointly optimize the beamspace hybrid combiner and the ADC quantization bits allocation to maximize the system energy efficiency (EE) under some practical constraints. The formulated problem is non-convex due to the non-linear fractional objective function and the non-convex feasible set which is generally intractable. In order to handle these difficulties, we first apply some fractional programming (FP) techniques and introduce auxiliary variables to recast this problem into an equivalent form amenable to optimization. Then, we propose an efficient double-loop iterative algorithm based on the penalty dual decomposition (PDD) and the majorization-minimization (MM) methods to find local stationary solutions. Simulation results reveal significant gain over the baselines., Comment: 5 pages, 4 figures, submitted to WCL

Intelligent reflecting surface (IRS) is a promising new paradigm to achieve high spectral and energy efficiency for future wireless networks by reconfiguring the wireless signal propagation via passive reflection. To reap the potential gains of IRS, channel state information (CSI) is essential, whereas channel estimation errors are inevitable in practice due to limited channel training resources. In this paper, in order to optimize the performance of IRS-aided multiuser systems with imperfect CSI, we propose to jointly design the active transmit precoding at the access point (AP) and passive reflection coefficients of IRS, each consisting of not only the conventional phase shift and also the newly exploited amplitude variation. First, the achievable rate of each user is derived assuming a practical IRS channel estimation method, which shows that the interference due to CSI errors is intricately related to the AP transmit precoders, the channel training power and the IRS reflection coefficients during both channel training and data transmission. Then, for the single-user case, by combining the benefits of the penalty method, Dinkelbach method and block successive upper-bound minimization (BSUM) method, a new penalized Dinkelbach-BSUM algorithm is proposed to optimize the IRS reflection coefficients for maximizing the achievable data transmission rate subjected to CSI errors; while for the multiuser case, a new penalty dual decomposition (PDD)-based algorithm is proposed to maximize the users' weighted sum-rate. Simulation results are presented to validate the effectiveness of our proposed algorithms as compared to benchmark schemes. In particular, useful insights are drawn to characterize the effect of IRS reflection amplitude control (with/without the conventional phase shift) on the system performance under imperfect CSI., Comment: 15 pages, 10 figures, accepted by IEEE Transactions on Communications

Inspired by the recent advances in deep learning (DL), this work presents a deep neural network aided decoding algorithm for binary linear codes. Based on the concept of deep unfolding, we design a decoding network by unfolding the alternating direction method of multipliers (ADMM)-penalized decoder. In addition, we propose two improved versions of the proposed network. The first one transforms the penalty parameter into a set of iteration-dependent ones, and the second one adopts a specially designed penalty function, which is based on a piecewise linear function with adjustable slopes. Numerical results show that the resulting DL-aided decoders outperform the original ADMM-penalized decoder for various low density parity check (LDPC) codes with similar computational complexity., Comment: 5 pages, 4 figures, accepted for publication in IEEE communications letters

This work studies the joint problem of power and trajectory optimization in an unmanned aerial vehicle (UAV)-enabled mobile relaying system. In the considered system, in order to provide convenient and sustainable energy supply to the UAV relay, we consider the deployment of a power beacon (PB) which can wirelessly charge the UAV and it is realized by a properly designed laser charging system. To this end, we propose an efficiency (the weighted sum of the energy efficiency during information transmission and wireless power transmission efficiency) maximization problem by optimizing the source/UAV/PB transmit powers along with the UAV's trajectory. This optimization problem is also subject to practical mobility constraints, as well as the information-causality constraint and energy-causality constraint at the UAV. Different from the commonly used alternating optimization (AO) algorithm, two joint design algorithms, namely: the concave-convex procedure (CCCP) and penalty dual decomposition (PDD)-based algorithms, are presented to address the resulting non-convex problem, which features complex objective function with multiple-ratio terms and coupling constraints. These two very different algorithms are both able to achieve a stationary solution of the original efficiency maximization problem. Simulation results validate the effectiveness of the proposed algorithms., Comment: 33 pages, 8 figures, accepted for publication in IEEE Transactions on Wireless Communications